88 citations · 165 across the 15 of their papers we have counts for
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A Hierarchical Framework to Generate Robust Biped Locomotion Based on Divergent Component of Motion
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar…
A Robust Closed-Loop Biped Locomotion Planner Based on Time Varying Model Predictive Control
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion p…
A Fast and Stable Omnidirectional Walking Engine for the Nao Humanoid Robot
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
This paper proposes a framework designed to generate a closed-loop walking engine for a humanoid robot. In particular, the core of this framework is an abstract dynamics model whic…
A Robust Biped Locomotion Based on Linear-Quadratic-Gaussian Controller and Divergent Component of Motion
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this pap…
A Model-Based Balance Stabilization System for Biped Robot
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the ove…
Comparison Study of Well-Known Inverted Pendulum Models for Balance Recovery in Humanoid Robot
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a co…